HOI-Retarget: 接触中心の人間-物体インタラクション再ターゲティング
HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction
人間と物体のインタラクション動作を、接触情報を基準にヒューマノイドロボットへ転移させる手法を提案し、大規模な動作データセットを生成・公開した。
著者: Jihwan Shin, Adrià López Escoriza, Junzhe He, Matthias Heyrman, Marco Hutter
分類: cs.RO
原文アブストラクト
Learning from demonstration (LfD) has enabled humanoid robots to acquire diverse whole-body skills, but extending this paradigm to human-object interaction (HOI) is limited by the availability of robot-compatible interaction references. We present HOI-Retarget, a contact-centric retargeting method that transfers HOI onto a humanoid robot for large-scale motion-data generation. Its windowed trajectory optimization uses every labeled contact as a target in the object frame, balancing body tracking, foot support and smoothness under the robot's kinematic limits. The method can augment a single demonstration across object sizes, absorb contacts reconstructed from monocular video, and extend to several robots manipulating one object. We publicly release the code and the retargeted motion dataset.